The application relates to the satellite navigation signal, generating method,generating device, receiving method and receiving device. The navigationsatellite signalgenerating device includes a baseband signal generator, a multiplexed signalgenerator and amodulator. The baseband signal generator is provided to generate a firstbaseband signal S1, asecond baseband signal S2, a third baseband signal S3, and a forth basebandsignal S4. Themultiplexed signal generator is provided to set an amplitude and a phase of anin-phasebaseband component and an amplitude and a phase of a quadrature-phase basebandcomponentof a signal into which the first baseband signal S1, the second basebandsignal S2, the thirdbaseband signal S3 and the forth baseband signal S4 are multiplexed, so as togenerate amultiplexed signal with constant envelope. The modulator is provided tomodulate themultiplexed signal with constant envelope to a radio frequency, so as togenerate the navigationsatellite signal. The first baseband signal S1 and the second baseband signalS2 are modulated toa first carrier frequency f1 with carrier phases orthogonal to each other, andthe third basebandsignal S3 and the forth baseband signal S4 are modulated to a second carrierfrequency f2 withcarrier phases orthogonal to each other.
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